// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
// subsystems
import frc.robot.subsystems.BasePilotable;
import frc.robot.subsystems.Poussoir;
import frc.robot.subsystems.Pistonshaker;
// commands
import frc.robot.commands.Activer_poussoir;
import frc.robot.commands.ActiverBlockeur;
import frc.robot.commands.DesactiverBlockeur;
import frc.robot.commands.Activershaker;
import frc.robot.commands.Avancer;
import frc.robot.commands.BoutonA;

/**
 * This class is where the bulk of the robot should be declared. Since Command-based is a
 * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
 * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
 * subsystems, commands, and button mappings) should be declared here.
 */
public class RobotContainer {
  // The robot's subsystems and commands are defined here...
  XboxController manette = new XboxController(0);
  
  BasePilotable basePilotable = new BasePilotable();
  
  private Pistonshaker pistonshaker = new Pistonshaker();
  private Poussoir poussoir = new Poussoir();
  
  private BoutonA BoutonA = new BoutonA(poussoir,pistonshaker);
  private ActiverBlockeur ActiverBlockeur = new ActiverBlockeur(poussoir);
  private Activershaker Activershaker = new Activershaker(pistonshaker);
  private DesactiverBlockeur DesactiverBlockeur = new DesactiverBlockeur(poussoir);

  /** The container for the robot. Contains subsystems, OI devices, and commands. */
  public RobotContainer() {
    CameraServer.startAutomaticCapture();
    SmartDashboard.putNumber("AvancerVit", -0.3);
    SmartDashboard.putNumber("avancer", 2.71);

    // Configure the button bindings
    configureButtonBindings();

    basePilotable.setDefaultCommand(
      new RunCommand(
        ()-> basePilotable.drive(-manette.getLeftY(), manette.getLeftX(), -manette.getLeftTriggerAxis()+manette.getRightTriggerAxis()), basePilotable)
    );
  }

  /**
   * Use this method to define your button->command mappings. Buttons can be created by
   * instantiating a {@link GenericHID} or one of its subclasses ({@link
   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
   * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
   */
  private void configureButtonBindings() {
    JoystickButton buttonA = new JoystickButton(manette, XboxController.Button.kA.value);
    buttonA.whileHeld(new SequentialCommandGroup(
      new Activer_poussoir(poussoir).withTimeout(0.5),
      new Activershaker(pistonshaker)
    ));
    JoystickButton rightbumper = new JoystickButton(manette, XboxController.Button.kLeftBumper.value);
    rightbumper.whileHeld(Activershaker);
    JoystickButton buttonY = new JoystickButton(manette, XboxController.Button.kY.value);
    buttonY.whenPressed(DesactiverBlockeur);
    JoystickButton buttonX = new JoystickButton(manette, XboxController.Button.kX.value);
    buttonX.whenPressed(ActiverBlockeur);
    JoystickButton buttonstart = new JoystickButton(manette, XboxController.Button.kStart.value);
    buttonstart.whenPressed(
      new InstantCommand(
        () -> basePilotable.resetgyro(),
        basePilotable
      )
    );
  }

  /** 
   * Use this to pass the autonomous command to the main {@link Robot} class.
   
   * @return the command to run in autonomous
   */
  public Command getAutonomousCommand() {
    // An ExampleCommand will run in autonomous
    return new Avancer(basePilotable, SmartDashboard.getNumber("AvancerVit",0)).withTimeout(SmartDashboard.getNumber("avancer", 1));
    
  }
}